The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. Manipulation difficulty is also increased by nonintuitive crane-control interfaces. This paper describes a new interface that allows operators to drive a crane by moving a hand-held device (wand or glove) freely in space. A crane-mounted camera tracks the movement of the hand-held device, the position of which is used to drive the crane. Two control architectures were investigated. The first uses a simple feedback controller, and the second uses feedback and an input shaper. Two operator studies demonstrate that hand-motion crane control is faster and safer than using a standard push-button pendent control.